CyberX8/CyberX8_RT/Modules/SRD/SRDInitializeRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.Facilities;
using CyberX8_RT.Devices.PUF;
using CyberX8_RT.Devices.SRD;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.Transporter
{
    public class SRDInitializeRoutine : RoutineBase, IRoutine
    {
        private enum InitializeStep
        {
            CheckSafety,
            CheckFacilities,            
            End
        }
        #region 内部变量
        #endregion

        #region 属性
        /// <summary>
        /// 当前子状态机
        /// </summary>
        public string CurrentStateMachine
        {
            get { return Runner.CurrentStep.ToString(); }
        }
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SRDInitializeRoutine(string module) : base(module)
        {
        }

        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }

        public RState Monitor()
        {
            Runner.Run(InitializeStep.CheckSafety, CheckSafety,NullFun,_delay_1ms)
                .Run(InitializeStep.CheckFacilities, CheckFacilities, NullFun, _delay_1ms)
                .End(InitializeStep.End,NullFun);

            return Runner.Status; 
        }
        /// <summary>
        /// 检验Safety
        /// </summary>
        /// <returns></returns>
        private bool CheckSafety()
        {
            return true;
        }
        /// <summary>
        /// 检验Facilties
        /// </summary>
        /// <returns></returns>
        private bool CheckFacilities()
        {
            SystemFacilities systemFacilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");

            var result = systemFacilities.CheckCDAN2();
            if (!result.result)
            {
                LOG.WriteLog(eEvent.ERR_SRD, Module, $"CDA or N2 is not enabled");
                return false;
            }
            return true;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            return Runner.Start(Module, "Initialize");
        }
    }
}